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Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. UAVs rely on accurate location information for a variety of purposes including navigation, motion planning and control, and mission completion. UAV INS/GPS localization is generally used based on navigation filter. Extended Kalman filter is largely used to solve the(More)
An adaptive fuzzy systems approach to state feedback input-output (i/o) linearizing COlltroller is outlined. The allalysis is based 011 a general llOlllinear multi-inpu t Il ul/,i-output (MIMO) systems, witll minimum phase zero dynamics and uncertainties satisfillg tIle matclling condition. The adaptive ftlzzy system is incorporated into tIle COlltroi(More)
Unmanned aerial vehicles (UAV) are becoming more autonomous, rapidly sophisticated and intelligent due to the large on-board computer power, control algorithms and sensor systems. In the research literature there is a plethora of work, which addresses systematically among other issues the UAV path planning process. Very little work however, addresses the(More)
In general routing problems are adapted to the application domain while incorporating constraints and special conditions. Depending on the problem, the classical static shortest path algorithm may be proved unrealized due to insufficient energy reserves. Motivated from the analysis in (Economou et al., 2007) where graph theory tools were utilized in the UAV(More)
In this paper, we describe research work currently being undertaken to detect, model, and track the shape of a contaminant cloud boundary using air borne sensor swarms. A model of the contaminant cloud boundary is first developed using a splinegon, defined by a set of vertices linked by segments of constant curvature. This model is then used in an estimator(More)
This paper presents a solution to the problem of simultaneous arrival of a swarm of UAVs by safe and continuously flyable paths. Continuously flyable-paths are generated by satisfying the curvature constraint throughout the path-length. The flyable paths ensure the safety of the UAVs by changing the shape of the flyable-paths by adjusting curvature of the(More)
This paper describes a new approach for mobile robot navigation using an interval analysis based adaptive mechanism for an extended Kalman filter. The robot is equipped with inertial sensors, encoders and ultrasonic sensors. The map used for this study is two-dimensional and it is assumed to be a known a-priori. Multiple sensor fusion for robot localisation(More)
This paper presents the design of a missile autopilot over its flight envelop using quasi-linear parameter-varying polynomial eigenstructure assignment (PEA). The paper describes the extension of PEA to parameter-varying systems using a nonlinear missile model developed by Horton as an example. The autopilot is designed for a single-plane lateral(More)
This paper presents a modular approach to the design and implementation of a power and energy management system (PEMS) for electric vehicles (EV). The model EV is powered by dual energy sources, consisting of batteries and ultracapacitors. Operation of the PEMS has been structured into modular hierarchical process shells. The energy management shell (EMS)(More)
Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation approach using an interval analysis (IA) based adaptive mechanism for an unscented Kalman filter (UKF). The robot is equipped with inertial sensors (INS), encoders and ultrasonic sensors. An UKF is used(More)